Mechanical arm auxiliary device for flexible ureteroscope operation

Abstract

The invention discloses a mechanical arm auxiliary device for flexible ureteroscope surgery, and relates to the technical field of medical instruments.The mechanical arm auxiliary device for the flexible ureteroscope surgery is characterized in that a clamping mechanism is arranged in a straight cylinder and comprises a mounting seat slidably arranged in the straight cylinder, and a pulley is arranged on the mounting seat; when the hose is arranged in the straight cylinder, the pulley clamps the hose and limits the hose in the middle position in the straight cylinder, and the hose can be always in the middle position in the straight cylinder through clamping of the pulley on the hose and sliding of the mounting seat, so that the situation that the tail end of the straight cylinder cannot be aligned with a hole is avoided, and the service life of the hose is prolonged. Resistance generated when the hose is matched with the clamping mechanism can be reduced through the pulley arranged on the mounting seat, meanwhile, the pulley is rotationally arranged on the mounting seat, so that the surface of the pulley has radian, and the pulley can protect the hose and prevent the hose from being abraded due to hard friction between the hose and the clamping mechanism, so that the operation use is not influenced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a mechanical arm auxiliary device for ureteroscopic surgery. Background Art

[0002] Flexible ureteroscopy (FURS) has developed rapidly in the past decade. It has become a new generation of treatment for upper urinary tract stones in combination with holmium laser, which can replace extracorporeal shock wave lithotripsy (ESWL) and percutaneous nephrolithotomy (PCNL). FURS is a non-invasive technology that operates through the natural channels of the human body, thus avoiding the risks of renal bleeding and infection in PCNL and making it safer. The flexible structure design of the scope enables the flexible scope to reach the entire upper urinary tract renal pelvis and calyceal system, greatly improving the scope of diagnosis and treatment, and reducing damage to human tissues such as the urethra and ureter.

[0003] For example, the Chinese patent for a surgical assistance system suitable for a soft mirror, publication number CN109452975A, uses a servo drive to drive the rotation and bending of the soft mirror. Compared with the traditional servo motor drive, the servo structure is more compact, small in size and light in weight, fast in response speed, large in output torque, easy to control, and more suitable for precise control of non-continuous rotation angles. In addition, under the premise of using a servo, the soft mirror paddle is controlled by the servo. For example, the paddle movement angle of ±60° can be mapped to the servo ±120°, so that when operating, the control of the soft mirror bending angle can be more precise and sensitive, and the servo angle range of 240° corresponds to the paddle movement angle range of 120°. If more precise control is required, the range of the servo can be further expanded within the scope permitted by technology.

[0004] In the contemporary medical field, robotic arms are used to assist surgery. The robotic arms are equipped with catheter devices for fixing ureteral tubes. The tubes pass through the devices to limit the position of the tubes. However, when passing through the catheter devices, if the opening of the catheter devices is set with a small gap between the size of the tubes, the tubes will be difficult to place into the devices. If the opening is set too large, the tubes will easily collide in the hole and will not be easy to pass through at the bottom. Summary of the invention

[0005] 1. Technical issues to be resolved In view of the deficiencies in the prior art, the present invention provides a robotic arm auxiliary device for ureteroscopic surgery, which solves the problems mentioned in the above background technology.

[0006] (II) Technical solution To achieve the above objectives, the present invention is implemented through the following technical solutions: A mechanical arm auxiliary device for ureteroscopic surgery, comprising an auxiliary component, the auxiliary component comprising a straight tube and a front end fixed head installed at the bottom of the straight tube, a clamping mechanism is slidably arranged in the straight tube, and the clamping mechanism is used to clamp and transport a thin tube; The clamping mechanism comprises a mounting seat slidably arranged in the straight tube, a pulley is arranged in the mounting seat, and the pulley is used to resist and clamp the capillary.

[0007] Preferably, a mounting block is further provided in the straight tube, the clamping mechanism is slidably provided on the mounting block, and a matching mechanism is further provided in the straight tube, the mounting block slides in the straight tube through the matching mechanism; The matching mechanism comprises a matching groove provided on the straight cylinder, a matching block is slidably arranged in the matching groove, and the mounting block is arranged on the matching block.

[0008] Preferably, the matching block is further provided with a positioning mechanism, and the mounting block is connected to the matching block via the positioning mechanism; The positioning mechanism comprises a positioning groove provided on the matching block, and a positioning rod adapted to the positioning groove is provided on the mounting block, and the positioning rod is slidably arranged in the positioning groove.

[0009] Preferably, the positioning mechanism further comprises a limiting plate arranged on the positioning rod, and the mounting block is further provided with a positioning spring, and the positioning spring is sleeved on the outer side of the positioning rod.

[0010] Preferably, a first moving mechanism is further provided in the installation block, and the installation seat is slidably provided in the installation block through the first moving mechanism; The first moving mechanism comprises a first moving groove provided in the mounting block, a first moving block is slidably arranged in the first moving groove, and the mounting seat is mounted in the first moving block.

[0011] Preferably, the mounting seat is further provided with a delay mechanism, and the mounting seat is slidably connected with the first moving block via the delay mechanism; The delay mechanism comprises a delay slider disposed on the mounting seat, a guide rod is disposed in the first moving block, and the delay slider is slidably disposed on the guide rod; The diameter of the guide rod gradually increases from one side to the other side; The delay slider is also provided with a return spring, and the delay slider is also connected to the first moving block through the return spring, and the return spring is sleeved on the outer side of the guide rod.

[0012] Preferably, a straightening mechanism is provided on the mounting seat, and the straightening mechanism is used to assist the pulley in straightening the capillary; The straightening mechanism includes an adjustment groove opened on the mounting seat, an adjustment block is arranged on the pulley, the adjustment block is slidably arranged in the adjustment groove, an elastic arc plate is arranged on the adjustment block, the elastic arc plate is symmetrically arranged on both sides of the adjustment block, and the adjustment block is connected to the mounting seat through the elastic arc plate.

[0013] Preferably, a limit-limiting resistance mechanism is further provided on the mounting block, and the limit-limiting resistance mechanism is used to adjust the sliding movement of the first moving block; The position limiting and abutting mechanism comprises a through slot provided on the mounting block, a abutting plate is slidably arranged in the through slot, and the abutting plate is used to abut against the first moving block; A combination accessory is also provided in the straight tube, and the combination accessory is used to abut against the abutment plate; The abutment plate is provided with a telescopic rod, and the abutment plate is connected with the straight tube via the telescopic rod.

[0014] Preferably, the combined fitting comprises a support rod arranged on a straight tube, a matching rod is further arranged on the support rod, and the support rod and the matching rod are movably hinged via a hinge shaft.

[0015] Preferably, a second moving mechanism is further provided in the straight cylinder, and the matching block is slidably provided in the straight cylinder through the second moving mechanism; The second moving mechanism includes a second moving groove opened in the straight cylinder, and a second moving block that is adapted to the second moving groove is arranged on the matching block. The second moving block is slidably arranged in the second moving groove. A limiting rod is also arranged in the second moving groove, and the second moving block is slidably arranged on the limiting rod.

[0016] (III) Beneficial effects The present invention provides a mechanical arm auxiliary device for ureteroscopic surgery, which has the following beneficial effects: 1. The robotic arm auxiliary device for ureteroscope surgery is provided with a clamping mechanism in the straight tube. The clamping mechanism includes a mounting seat slidably arranged in the straight tube, and a pulley is arranged on the mounting seat. When the hose is arranged in the straight tube, the pulley will clamp the hose and limit it to the center position in the straight tube. The clamping of the hose by the pulley and the sliding of the mounting seat can ensure that the hose is always in the center position in the straight tube, thereby avoiding the situation where the end of the straight tube cannot be aligned with the hole. The pulley arranged on the mounting seat can reduce the resistance generated when the hose cooperates with the clamping mechanism. At the same time, since the pulley is rotatably arranged on the mounting seat and the surface of the pulley has an arc, the pulley can protect the hose and avoid hard friction between the hose and the clamping mechanism, thereby avoiding wear and affecting the surgical use.

[0017] 2. The robotic arm auxiliary device for ureteroscopic surgery is provided with a first moving mechanism in the mounting block, and the mounting seat can slide in the mounting block through the first moving mechanism. The first moving mechanism includes a first moving groove opened in the mounting block, and a first moving block is provided on the mounting seat. The first moving block is slidably arranged in the first moving groove. The mounting seat can slide in the mounting block through the cooperation of the first moving groove and the first moving block. By setting the first moving mechanism, the mounting seat can slide in the mounting block, thereby meeting the first stage of transportation of the hose, that is, reserving part of the hose, and then sliding in the straight tube together with the mounting block for transportation.

[0018] 3. In order to reserve the hose, the mounting seat of the robotic arm auxiliary device for ureteroscope surgery needs to slide a certain distance on the first moving block first, and then slide together with the mounting block. Therefore, a delay mechanism is also provided on the mounting seat. The delay mechanism includes a delay slider arranged in the mounting seat. A guide rod is provided on the first moving block. The delay slider is slidably arranged on the guide rod. At the same time, the top diameter and the bottom diameter of the guide rod are different, and the top diameter is smaller than the bottom diameter, so that the mounting seat will first slide a certain distance in the first moving block, resulting in an interference fit between the guide rod and the delay slider. After that, the mounting seat will slide in the mounting block together with the first moving mechanism, thereby completing the reservation of the hose.

[0019] 4. The robotic arm auxiliary device for ureteroscopic surgery uses an elastic arc plate to elastically support the adjustment block from two directions, so that when the hose is conveyed, even if the angle of the conveying force is different, the elastic arc plate can calibrate the pulley by providing elastic potential energy in multiple directions, so that the pulley can keep the hose centered in the straight tube.

[0020] 5. The robotic arm auxiliary device for ureteroscopic surgery is also provided with a limited resistance mechanism in the mounting block. The limited resistance mechanism includes a through groove provided on the straight tube, and a resistance plate is slidably provided in the through groove. At the same time, the resistance plate is used to resist the first moving block to prevent the first moving block from sliding directly to the bottom, thereby causing the hose to bend and unable to pop out automatically. At the same time, a combination accessory is also provided at the bottom of the straight tube. When the mounting block is close to the bottom of the straight tube, the combination accessory will resist the resistance plate and slide, so that the resistance plate will no longer limit the first moving block, so that the first moving block can continue to slide on the mounting block, and then the pulley drives the hose to slide in the front end fixed head, so that the hose protrudes from the front end fixed head, speeding up the preparation of surgical instruments and improving accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the external structure of the present invention.

[0022] Figure 2 for Figure 1 Partial cross-sectional view at EE in the middle.

[0023] Figure 3 This is a schematic diagram of the first internal structure of the present invention.

[0024] Figure 4 for Figure 3 Partial cross-sectional view at GG in the middle.

[0025] Figure 5 for Figure 2 A partial enlarged view of point A in the middle.

[0026] Figure 6 for Figure 4 A partial enlarged view of point B in the middle.

[0027] Figure 7 This is a second internal structure schematic diagram of the present invention.

[0028] Figure 8 for Figure 2 A partial enlarged view of point C in the middle.

[0029] In the figure: 1. auxiliary component; 11. straight cylinder; 12. front end fixed head; 3. clamping mechanism; 31. mounting seat; 32. pulley; 4. mounting block; 5. first moving mechanism; 51. first moving groove; 52. first moving block; 6. matching mechanism; 61. matching groove; 62. matching block; 7. positioning mechanism; 71. positioning groove; 72. positioning rod; 73. limit plate; 74. positioning spring; 8. delay mechanism; 81. delay slider; 82. guide rod; 83. reset spring; 9. second moving mechanism; 91. second moving groove; 92. second moving block; 93. limit rod; 10. limit conflict mechanism; 101. through groove; 102. conflict plate; 103. combination accessories; 1031. support rod; 1032. matching rod; 13. telescopic rod; 14. straightening mechanism; 141. adjustment groove; 142. adjustment block; 143. elastic arc plate. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example 1

[0031] See also Figure 1-2 A mechanical arm auxiliary device for ureteroscopic surgery includes an auxiliary component 1, the auxiliary component 1 includes a straight tube 11 and a front end fixed head 12 installed at the bottom of the straight tube 11, a clamping mechanism 3 is slidably arranged in the straight tube 11, and the clamping mechanism 3 is used to clamp and transport a thin tube; The clamping mechanism 3 includes a mounting seat 31 slidably disposed in the straight tube 11 , a pulley 32 is disposed in the mounting seat 31 , and the pulley 32 is used to abut and clamp the capillary tube.

[0032] In this embodiment: a catheter device for fixing the ureteral hose will be provided on the conventional robotic arm, and the hose will pass through the device to limit the position of the hose. However, when passing through the catheter device, if the opening of the catheter device is set with a small gap with the size of the hose, then the hose will be difficult to be set into the device. If the opening is set too large, then the hose will easily conflict in the hole, and it will be difficult to pass through its bottom.

[0033] Therefore, in order to allow the hose to pass through the catheter device quickly and conveniently, a clamping mechanism 3 is arranged in the straight cylinder 11. The clamping mechanism 3 includes a mounting seat 31 slidably arranged in the straight cylinder 11, and a pulley 32 is arranged on the mounting seat 31. When the hose is set in the straight cylinder 11, the pulley 32 will clamp the hose and limit it to a central position in the straight cylinder 11. Through the clamping of the hose by the pulley 32 and the sliding of the mounting seat 31, it can be ensured that the hose is always in a central position in the straight cylinder 11, thereby avoiding the situation where the end of the straight cylinder 11 cannot be aligned with the hole.

[0034] By setting the pulley 32 on the mounting seat 31, the resistance generated when the hose and the clamping mechanism 3 cooperate can be reduced. At the same time, since the pulley 32 is rotatably set on the mounting seat 31, the surface of the pulley 32 can have an arc. The pulley 32 can protect the hose and avoid hard friction between the hose and the clamping mechanism 3, thereby preventing wear and tear, thereby affecting surgical use. Example 2

[0035] See also Figure 2 and Figure 5 , a mounting block 4 is also provided in the straight cylinder 11, the clamping mechanism 3 is slidably provided on the mounting block 4, and a matching mechanism 6 is also provided in the straight cylinder 11, and the mounting block 4 slides in the straight cylinder 11 through the matching mechanism 6; The matching mechanism 6 includes a matching groove 61 formed on the straight tube 11 , a matching block 62 is slidably disposed in the matching groove 61 , and the mounting block 4 is disposed on the matching block 62 .

[0036] The matching block 62 is also provided with a positioning mechanism 7, and the mounting block 4 is connected to the matching block 62 via the positioning mechanism 7; The positioning mechanism 7 includes a positioning groove 71 formed on the matching block 62 . A positioning rod 72 adapted to the positioning groove 71 is provided on the mounting block 4 . The positioning rod 72 is slidably disposed in the positioning groove 71 .

[0037] The positioning mechanism 7 also includes a limit plate 73 arranged on the positioning rod 72, and the mounting block 4 is also provided with a positioning spring 74, which is sleeved on the outer side of the positioning rod 72. In this embodiment: in order to allow the mounting seat 31 to slide in the straight cylinder 11, a mounting block 4 is provided in the straight cylinder 11, and the mounting seat 31 is arranged on the mounting block 4. At the same time, a mounting block 4 is also provided in the straight cylinder 11, and is slidably arranged in the straight cylinder 11 through the matching mechanism 6, thereby driving the mounting seat 31 to slide in the straight cylinder 11; The mating mechanism 6 includes a mating groove 61 provided in the straight cylinder 11, and a mating block 62 matched with the mating groove 61 is provided on the mounting block 4. The mating block 62 is slidably arranged in the mating groove 61. Through the mutual cooperation between the mating groove 61 and the mating block 62, the mounting block 4 can slide in the straight cylinder 11, thereby driving the clamping mechanism 3 to slide in the straight cylinder 11.

[0038] In order to adjust the gap between the pulleys 32 and facilitate the clamping of the hose, a positioning mechanism 7 is also provided on the matching block 62, and the mounting block 4 is connected to the matching block 62 through the positioning mechanism 7; The positioning mechanism 7 includes a positioning groove 71 provided on the matching block 62, and a positioning rod 72 is provided on the mounting block 4. The positioning rod 72 is slidably arranged in the positioning groove 71. Through the mutual cooperation between the positioning groove 71 and the positioning rod 72, the mounting block 4 and the matching block 62 can slide, thereby changing the gap between the pulleys 32, so as to facilitate the insertion of the hose between the two pulleys 32 for clamping; At the same time, in order to enable the pulley 32 to effectively clamp the hose, a positioning spring 74 is also provided on the mounting block 4. The mounting block 4 is also elastically connected to the matching block 62 through the positioning spring 74, so that the positioning spring 74 provides the necessary elastic potential energy and stability for the clamping of the pulley 32. Example 3

[0039] See also Figure 2 and Figure 5 , a first moving mechanism 5 is also provided in the mounting block 4, and the mounting seat 31 is slidably disposed in the mounting block 4 through the first moving mechanism 5; The first moving mechanism 5 includes a first moving groove 51 provided in the mounting block 4 . A first moving block 52 is slidably disposed in the first moving groove 51 . The mounting seat 31 is connected to the first moving block 52 .

[0040] See also Figure 1 , a delay mechanism 8 is also provided on the mounting seat 31, and the mounting seat 31 is slidably connected with the first moving block 52 through the delay mechanism 8; The delay mechanism 8 includes a delay slider 81 disposed on the mounting seat 31, a guide rod 82 is disposed in the first moving block 52, and the delay slider 81 is slidably disposed on the guide rod 82; The diameter of the guide rod 82 gradually increases from one side to the other side; A return spring 83 is also provided on the delay slider 81 . The delay slider 81 is also connected to the first moving block 52 via the return spring 83 , and the return spring 83 is sleeved on the outer side of the guide rod 82 .

[0041] In this embodiment: in order to allow the mounting seat 31 to slide in the mounting block 4, a portion of the hose can be reserved. When the mounting block 4 reaches the bottom end of the straight tube 11, this portion can be protruded from the hole of the front end fixing head 12, thereby facilitating the hose exposed outside the front end fixing head 12 to pull the remaining hose out of the front end fixing head 12 to meet the needs of the operation; A first moving mechanism 5 is arranged in the mounting block 4, and the mounting seat 31 can slide in the mounting block 4 through the first moving mechanism 5. The first moving mechanism 5 includes a first moving groove 51 opened in the mounting block 4, and a first moving block 52 is arranged on the mounting seat 31. The first moving block 52 is slidably arranged in the first moving groove 51. The mounting seat 31 can slide in the mounting block 4 through the cooperation of the first moving groove 51 and the first moving block 52. By setting the first moving mechanism 5, the mounting seat 31 can slide in the mounting block 4, thereby meeting the first stage of conveying of the hose, that is, a part of the hose is reserved, and then the hose and the mounting block 4 slide in the straight tube 11 together, so as to be conveyed; In order to reserve the hose, the mounting seat 31 needs to first slide a certain distance on the first moving block 52, and then slide together with the mounting block 4. Therefore, a delay mechanism 8 is also provided on the mounting seat 31. The delay mechanism 8 includes a delay slider 81 arranged in the mounting seat 31, and a guide rod 82 is provided on the first moving block 52. The delay slider 81 is slidably arranged on the guide rod 82. At the same time, the top diameter and the bottom diameter of the guide rod 82 are different, and the top diameter is smaller than the bottom diameter, so that the mounting seat 31 will first slide a certain distance in the first moving block 52, resulting in an interference fit between the guide rod 82 and the delay slider 81, and then the mounting seat 31 will slide in the mounting block 4 together with the first moving mechanism 5, thereby completing the reservation of the hose; At the same time, in order to facilitate the delay slider 81 to slide back on the guide rod 82 after the hose is removed, so as to facilitate the next use, a return spring 83 is also provided on the delay slider 81, and the delay slider 81 is also elastically connected to the first moving block 52 through the return spring 83, and the return spring 83 is used to complete the return sliding of the delay slider 81. At the same time, the return spring 83 is arranged on the outer side of the guide rod 82 to prevent the return spring 83 from bending during elastic deformation. Example 4

[0042] See also Figure 3 , Figure 4 and Figure 6 , a straightening mechanism 14 is provided on the mounting seat 31, and the straightening mechanism 14 is used to assist the pulley 32 in straightening the capillary; The straightening mechanism 14 includes an adjustment groove 141 opened on the mounting seat 31, an adjustment block 142 is arranged on the pulley 32, the adjustment block 142 is slidably arranged in the adjustment groove 141, an elastic arc plate 143 is arranged on the adjustment block 142, the elastic arc plate 143 is symmetrically arranged on both sides of the adjustment block 142, and the adjustment block 142 is connected to the mounting seat 31 through the elastic arc plate 143.

[0043] In this embodiment: since manual transportation cannot ensure that the angle of the conveying force is consistent each time when conveying the hose, a straightening mechanism 14 is also provided on the mounting seat 31. The straightening mechanism 14 assists the pulley 32 in straightening the hose, thereby ensuring that even if the angle of the conveying force is different each time, the pulley 32 can still limit the hose to the center position of the straight tube 11.

[0044] The straightening mechanism 14 includes an adjustment groove 141 opened on the mounting seat 31, and an adjustment block 142 adapted to the adjustment groove 141 is arranged in the pulley 32, and the adjustment block 142 is slidably arranged in the adjustment groove 141, and at the same time, a plurality of elastic arc plates 143 are respectively arranged on both sides of the adjustment block 142, and the elastic arc plates 143 on both sides are symmetrically arranged on the adjustment block 142.

[0045] The elastic arc plate 143 provides elastic support to the adjustment block 142 from two directions, so that when the hose is conveyed, even if the angle of the conveying force is different, the elastic arc plate 143 can calibrate the pulley 32 by providing elastic potential energy in multiple directions, so that the pulley 32 can keep the hose centered in the straight tube 11. Example 5

[0046] See also Figure 5 , Figure 7 as well as Figure 8 , a limited position resistance mechanism 10 is also provided on the mounting block 4, and the limited position resistance mechanism 10 is used to adjust the sliding of the first moving block 52; The position limiting and abutting mechanism 10 comprises a through slot 101 formed on the mounting block 4, in which a abutting plate 102 is slidably disposed, and the abutting plate 102 is used to abut against the first moving block 52; The straight tube 11 is also provided with a combination accessory 103, the combination accessory 103 is used to resist the resistance plate 102; A telescopic rod 13 is provided on the abutment plate 102 , and the abutment plate 102 is connected to the straight tube 11 via the telescopic rod 13 .

[0047] The assembly accessory 103 includes a support rod 1031 disposed on the straight tube 11 . A matching rod 1032 is further disposed on the support rod 1031 . The support rod 1031 and the matching rod 1032 are movably hinged via a hinge shaft.

[0048] A second moving mechanism 9 is also disposed in the straight cylinder 11, and the matching block 62 is slidably disposed in the straight cylinder 11 through the second moving mechanism 9; The second moving mechanism 9 includes a second moving groove 91 provided in the straight cylinder 11, a second moving block 92 adapted to the second moving groove 91 is provided on the matching block 62, the second moving block 92 is slidably provided in the second moving groove 91, a limiting rod 93 is further provided in the second moving groove 91, and the second moving block 92 is slidably provided on the limiting rod 93 In this embodiment: In order to ensure that the hose can protrude from the front fixed head 12 when the mounting block 4 runs to the bottom of the straight cylinder 11, it is necessary to allow the first moving mechanism 5 to slide a certain distance when the mounting block 4 reaches the bottom, so that the hose automatically protrudes from the front fixed head 12, and then the subsequent hose can pass through the straight cylinder 11 normally by only pulling the hose.

[0049] Therefore, a limited resistance mechanism 10 is also provided in the mounting block 4. The limited resistance mechanism 10 includes a through groove 101 provided on the straight tube 11. A resistance plate 102 is slidably provided in the through groove 101. At the same time, the resistance plate 102 is used to resist the first movable block 52 to prevent the first movable block 52 from sliding directly to the bottom, thereby causing the hose to bend and unable to pop out automatically. At the same time, a combination accessory 103 is also provided at the bottom of the straight tube 11. When the mounting block 4 is close to the bottom of the straight tube 11, the combination accessory 103 will resist the resistance plate 102 and slide, so that the resistance plate 102 no longer limits the first movable block 52, so that the first movable block 52 can continue to slide on the mounting block 4, and then the pulley 32 drives the hose to slide in the front end fixed head 12, so that the hose protrudes out of the front end fixed head 12, thereby speeding up the preparation of surgical instruments and improving accuracy.

[0050] At the same time, the contact plate 102 is connected to the straight tube 11 through the telescopic rod 13, and the telescopic rod 13 includes an outer sleeve, an inner sliding rod and a spring. The outer sleeve is arranged on the mounting block 4, the sliding rod is slidably arranged on the sleeve, the spring is arranged in the sleeve, and the inner sliding rod is elastically connected to the outer sleeve through the spring.

[0051] In order to suppress the resistance plate 102 and make it lose the resistance limit to the first moving block 52, the assembly accessory 103 includes a support rod 1031 arranged in the straight tube 11, and a hinge shaft is arranged at the top of the support rod 1031. The support rod 1031 is movably hinged with a matching rod 1032 through the hinge shaft, and a coil spring is arranged in the hinge shaft. Since the matching rod 1032 is connected to the support rod 1031 through the hinge shaft, the matching rod 1032 will change its angle after contacting the first moving block 52, thereby suppressing the resistance plate 102. The resistance plate 102 slides in the direction close to the straight tube 11 through the telescopic rod 13, and no longer conflicts with the first moving block 52, so that the first moving block 52 can continue to slide in the first moving groove 51 under the action of gravity, thereby extending the conveying distance and allowing the reserved hose to protrude from the front end fixed head 12; At the same time, a second moving mechanism 9 is also arranged in the straight cylinder 11, and the second moving mechanism 9 includes a second moving groove 91 opened in the straight cylinder 11, and a second moving block 92 is arranged on the matching block 62. The matching block 62 is moved in the straight cylinder 11 through the matching of the second moving groove 91 and the second moving block 92. At the same time, a limiting rod 93 is also arranged in the second moving groove 91, and the second moving block 92 is slidably arranged on the limiting rod 93. The sliding of the second moving block 92 is limited by the limiting rod 93 to make its sliding more stable.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm assisting device for ureteroscopic surgery, characterized in that: The auxiliary component (1) comprises a straight tube (11) and a front end fixed head (12) mounted at the bottom of the straight tube (11); a clamping mechanism (3) is slidably arranged in the straight tube (11); the clamping mechanism (3) is used to clamp and transport the capillary; The clamping mechanism (3) comprises a mounting seat (31) slidably arranged in the straight tube (11), a pulley (32) being arranged in the mounting seat (31), and the pulley (32) is used to abut against and clamp the capillary tube.

2. The robotic arm assisting device for ureteroscopic surgery according to claim 1, characterized in that: A mounting block (4) is also provided in the straight cylinder (11), the clamping mechanism (3) is slidably provided on the mounting block (4), a matching mechanism (6) is also provided in the straight cylinder (11), and the mounting block (4) slides in the straight cylinder (11) via the matching mechanism (6); The matching mechanism (6) comprises a matching groove (61) provided on the straight cylinder (11), a matching block (62) being slidably arranged in the matching groove (61), and the mounting block (4) being arranged on the matching block (62).

3. The robot arm assisting device for ureteroscopic surgery according to claim 2, characterized in that: The matching block (62) is also provided with a positioning mechanism (7), and the mounting block (4) is connected to the matching block (62) via the positioning mechanism (7); The positioning mechanism (7) comprises a positioning groove (71) provided on the matching block (62); a positioning rod (72) adapted to the positioning groove (71) is provided on the mounting block (4); and the positioning rod (72) is slidably disposed in the positioning groove (71).

4. The mechanical arm auxiliary device for ureteroscopic surgery according to claim 3, characterized in that: The positioning mechanism (7) further comprises a limiting plate (73) arranged on the positioning rod (72), and a positioning spring (74) is further arranged on the mounting block (4), wherein the positioning spring (74) is sleeved on the outside of the positioning rod (72).

5. The robot arm assisting device for ureteroscopic surgery according to claim 2, characterized in that: A first moving mechanism (5) is also provided in the mounting block (4), and the mounting seat (31) is slidably arranged in the mounting block (4) via the first moving mechanism (5); The first moving mechanism (5) comprises a first moving groove (51) provided in the mounting block (4), a first moving block (52) being slidably arranged in the first moving groove (51), and the mounting seat (31) being mounted in the first moving block (52).

6. The robot arm assisting device for ureteroscopic surgery according to claim 1, characterized in that: The mounting seat (31) is also provided with a delay mechanism (8), and the mounting seat (31) is slidably connected to the first moving block (52) via the delay mechanism (8); The delay mechanism (8) comprises a delay slider (81) arranged on the mounting seat (31), a guide rod (82) is arranged in the first moving block (52), and the delay slider (81) is slidably arranged on the guide rod (82); The diameter of the guide rod (82) gradually increases from one side to the other side; The delay slider (81) is also provided with a return spring (83), and the delay slider (81) is also connected to the first moving block (52) via the return spring (83), and the return spring (83) is sleeved on the outside of the guide rod (82).

7. The robot arm assisting device for ureteroscopic surgery according to claim 6, characterized in that: The mounting seat (31) is provided with a straightening mechanism (14), and the straightening mechanism (14) is used to assist the pulley (32) in straightening the capillary; The straightening mechanism (14) comprises an adjustment groove (141) provided on the mounting seat (31); an adjustment block (142) is provided on the pulley (32); the adjustment block (142) is slidably arranged in the adjustment groove (141); an elastic arc plate (143) is provided on the adjustment block (142); the elastic arc plates (143) are symmetrically arranged on both sides of the adjustment block (142); and the adjustment block (142) is connected to the mounting seat (31) via the elastic arc plates (143).

8. The robot-assisted device for flexible ureteroscope surgery according to claim 2, characterized in that: A limit-limiting resistance mechanism (10) is also provided on the mounting block (4), and the limit-limiting resistance mechanism (10) is used to adjust the sliding movement of the first moving block (52); The position limiting and abutting mechanism (10) comprises a through slot (101) formed on the mounting block (4), a abutting plate (102) being slidably arranged in the through slot (101), and the abutting plate (102) being used for abutting against the first moving block (52); A combination accessory (103) is also provided in the straight cylinder (11), and the combination accessory (103) is used to abut against the abutment plate (102); A telescopic rod (13) is provided on the abutment plate (102), and the abutment plate (102) is connected to the straight tube (11) via the telescopic rod (13).

9. The robot-assisted device for flexible ureteroscope surgery according to claim 8, characterized in that: The combined accessory (103) comprises a support rod (1031) arranged on the straight cylinder (11), a matching rod (1032) being further arranged on the support rod (1031), and the support rod (1031) and the matching rod (1032) are movably hinged via a hinge shaft.

10. The robot arm assisting device for ureteroscopic surgery according to claim 9, characterized in that: A second moving mechanism (9) is also provided in the straight cylinder (11), and the matching block (62) is slidably arranged in the straight cylinder (11) via the second moving mechanism (9); The second moving mechanism (9) comprises a second moving groove (91) provided in the straight cylinder (11); a second moving block (92) adapted to the second moving groove (91) is provided on the matching block (62); the second moving block (92) is slidably arranged in the second moving groove (91); a limiting rod (93) is also provided in the second moving groove (91); the second moving block (92) is slidably arranged on the limiting rod (93).

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